EP3964914B1 - Systeme und verfahren zur ermöglichung der operativen konformität eines materialhandhabungsfahrzeugs - Google Patents

Systeme und verfahren zur ermöglichung der operativen konformität eines materialhandhabungsfahrzeugs Download PDF

Info

Publication number
EP3964914B1
EP3964914B1 EP21194292.5A EP21194292A EP3964914B1 EP 3964914 B1 EP3964914 B1 EP 3964914B1 EP 21194292 A EP21194292 A EP 21194292A EP 3964914 B1 EP3964914 B1 EP 3964914B1
Authority
EP
European Patent Office
Prior art keywords
vehicle
zone
aisle
road
beacons
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP21194292.5A
Other languages
English (en)
French (fr)
Other versions
EP3964914A1 (de
Inventor
Nicholas M. Draayer
Ryan P. MCDERMOTT
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hyster Yale Group Inc
Original Assignee
Hyster Yale Group Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hyster Yale Group Inc filed Critical Hyster Yale Group Inc
Publication of EP3964914A1 publication Critical patent/EP3964914A1/de
Application granted granted Critical
Publication of EP3964914B1 publication Critical patent/EP3964914B1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/143—Speed control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/60—Traffic rules, e.g. speed limits or right of way
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle

Definitions

  • the field of this disclosure relates to enhancing materials-handling vehicle compliance with rules of the road. More specifically, this disclosure relates to systems and methods for materials-handling vehicles using a real-time location system and a beacon location system to enhance rules of the road compliance during vehicle operation.
  • Reference document US 2019/092570 A1 relates to material handling systems and, more particularly, to transport and storage of items within the material handling system.
  • Vehicles including materials-handling vehicles, may be operated in environments that benefit from having operation limitations, referred to herein as "rules of the road," which may be designed to optimize system efficiency and performance.
  • rules of the road For example, a warehouse having an inventory picking and transport system is an environment in which a system for operating materials-handling vehicles that follow one or more rules of the road may be advantageous. In such environments, it is desirable that all vehicles follow the rules of the road designated for that environment. Compliance with one or more rules of the road may be improved and operator training can be enforced using the systems and methods described herein.
  • One aspect of this disclosure relates to a materials-handling vehicle for enhancing rules of the road compliance
  • a materials-handling vehicle for enhancing rules of the road compliance
  • a processor associated with the materials-handling vehicle and operably coupled to at least one vehicle system
  • a receiver communicating with the processor, wherein the receiver is configured to receive signals from a real-time location system and from one or more beacons that are located at known positions in an environment in which the vehicle operates
  • the materials-handling vehicle is programmed to receive a signal from a real-time location system in response to entering a zone in the environment monitored by the real-time location system; wherein the materials-handling vehicle is further programmed to communicate with one or more beacons associated with the zone in response to receiving the signal from the real-time location system; wherein the materials-handling vehicle is further programmed to determine a position of the vehicle in the zone based on the known positions of the one or more beacons associated with the zone; and wherein the materials-handling vehicle is further programmed to perform at least one of (i
  • An additional aspect of this disclosure relates to a method for operating a materials-handling vehicle to comply with a rule of the road, the method including, via a processor/receiver combination, receiving information indicating that the materials-handling vehicle has entered a zone in an environment in response to the vehicle entering the zone; via the processor/receiver combination, communicating with one or more beacons associated with the zone in response to receiving information indicating that the vehicle has entered the zone; via the processor/receiver combination, determining the vehicle's position in the zone in response to communicating with one or more beacons associated with the zone; via the processor/receiver combination, determining a rule of the road based on the vehicle's position in the zone; and via the processor/receiver combination, performing at least one of (i) modifying an operating characteristic of the vehicle system and (ii) operating the vehicle system based on (a) the determined position of the vehicle in the zone and (b) the rule of the road.
  • a system for enhancing rules of the road compliance includes a real-time location system that monitors zones in an environment; one or more beacons that are located at known positions in the environment, wherein one or more beacons are associated with one or more zones monitored by the real-time location system; a materials-handling vehicle; a processor associated with the materials-handling vehicle and operably coupled to at least one vehicle system; a receiver communicating with the processor, wherein the receiver is configured to receive signals from the real-time location system and from the one or more beacons; wherein the combination of the receiver and processor is programmed to receive a signal from the real-time location system in response to entering a zone in the environment monitored by the real-time location system; wherein the combination of the receiver and processor is further programmed to communicate with one or more beacons associated with the zone in response to receiving the signal from the real-time location system; wherein the combination of the receiver and processor is further programmed to determine a position of the vehicle in the zone based on the known positions of the one or more beacons associated with the zone
  • the rule of the road is associated with a zone in the environment.
  • the zone in the environment designates an aisle.
  • the rule of the road includes a vehicle speed limit associated with a portion of an aisle.
  • the zone designates an aisle and the rule of the road includes a vehicle speed limit associated with a portion of the aisle.
  • the vehicle speed limit is associated with an exit end portion of an aisle.
  • one or more of the beacons associated with the zone is located in an aisle.
  • one or more of the beacons associated with the zone is located outside an aisle.
  • the rule of the road is associated with the zone and the rule of the road is specific to a type of materials-handling vehicle.
  • performing at least one of (i) modifying an operating characteristic of the vehicle system and (ii) operating the vehicle system includes modifying the operating characteristic of the vehicle system and operating the vehicle system.
  • the zone in the environment includes an aisle
  • the rule of the road includes a speed limit for a portion of the aisle
  • modifying an operating characteristic of the vehicle system includes reducing a maximum speed for the vehicle.
  • the zone in the environment includes an aisle
  • the rule of the road includes a speed limit for a portion of the aisle
  • operating the vehicle system includes reducing a speed of the vehicle.
  • the zone in the environment includes an aisle
  • the rule of the road includes a speed limit for a portion of the aisle
  • modifying an operating characteristic of the vehicle system includes reducing a maximum speed for the vehicle
  • operating the vehicle system includes reducing a speed of the vehicle.
  • the sizes, positions, etc., of components, features, elements, etc., as well as any distances therebetween, are not necessarily to scale, and may be disproportionate and/or exaggerated for clarity.
  • the terms “about,” “thereabout,” “substantially,” “approximately,” etc. mean that amounts, sizes, formulations, parameters, and other quantities and characteristics are not and need not be exact, but may be approximate and/or larger or smaller, as desired, reflecting tolerances, conversion factors, rounding off, measurement error and the like, and other factors known to those of skill in the art.
  • the terms “about,” “substantially,” and “approximately,” refer to values that are, for example, within 1% of the stated value, within 2% of the stated value, within 3% of the stated value, within 4% of the stated value, within 5% of the stated value, within 6% of the stated value, within 7% of the stated value, within 8% of the stated value, within 9% of the stated value, within 10% of the stated value, within 11% of the stated value, within 12% of the stated value, within 13% of the stated value, within 14% of the stated value, or within 15% of the stated value.
  • the terms “about,” “substantially,” and “approximately,” refer to values that are within 10% of the stated value.
  • a range of values when recited, includes both the upper and lower limits of the range, as well as any sub-ranges therebetween.
  • terms such as “first,” “second,” etc. are only used to distinguish one element from another and not to imply any relative order, placement, or ranking. For example, one element could be termed a “first element” and similarly, another element could be termed a “second element,” or vice versa.
  • spatially relative terms such as “right,” left,” “below,” “beneath,” “lower,” “above,” and “upper,” and the like, may be used herein for ease of description to describe one element's or feature's relationship to another element or feature, as illustrated in the drawings. It should be recognized that the spatially relative terms are intended to encompass different orientations in addition to the orientation depicted in the drawings. For example, if an object in the figures is turned over, elements described as “below” or “beneath” other elements or features would then be oriented “above” the other elements or features. Thus, the term “below” can, for example, encompass both an orientation of above and below. An object may be otherwise oriented ( e.g. , rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein may be interpreted accordingly.
  • connections and all operative connections may be direct or indirect. Similarly, unless clearly indicated otherwise, all connections and all operative connections may be rigid or non-rigid.
  • phrase "A and/or B" means (A), (B), or (A and B).
  • phrase “combination of (A) and (B)” means (A), (B), or (A and B).
  • phrase "A, B, and/or C” means (A), (B), (C), (A and B), (A and C), (B and C), or (A, B and C).
  • circuitry may refer to, be part of, or include an Application Specific Integrated Circuit (ASIC), an electronic circuit, a processor (shared, dedicated, or group) and/or memory (shared, dedicated, or group) that execute one or more software or firmware programs, a combinational logic circuit, and/or other suitable components that provide the described functionality.
  • ASIC Application Specific Integrated Circuit
  • modifying a vehicle's characteristics may alert an operator to a change in the vehicle's environment, may facilitate operating the vehicle in accordance with rules of the road associated with particular portions of an environment, may do both, or may be done for other suitable purposes.
  • certain embodiments of the systems and methods of enhancing vehicle compliance for the vehicles that are disclosed herein may be capable of achieving certain advantages, including, in some cases, one or more of the following: (1) facilitating electronic communication between vehicles in environments containing multiple metal racks and/or shelving units within a large area; (2) increasing the likelihood of vehicles exiting and/or entering a vehicle travel lane within an environment at a low speed; (3) enforcing vehicle operator training within an environment; (4) reducing or eliminating the use of ground-based location transmitters in an environment by moving communication to transmitters not located on the ground; (5) improving efficiency of vehicle movement within a multivehicle environment; (6) increasing operator decision-making time within a multivehicle environment; and (7) affording the ability to quickly and completely introduce, alter, and/or remove one or more rules of the road throughout the entirety of an environment.
  • the systems and methods disclosed herein may enforce compliance of rules of the road by various types of vehicles operating in various types of environments.
  • the materials-handling vehicle may be operating in one or more of a specific type of environment such as a warehouse, a stockyard, a shipyard, a cold room, and a storage room, including indoor and outdoor environments.
  • the type of materials-handling vehicle may vary, and may include one or more of a lift truck, tugger, order picker, big truck, or any combination of the foregoing vehicles.
  • the materials-handling vehicle is operating in a warehouse.
  • Figure 1 illustrates an example environment 5 where beacons 10 are located at predetermined positions, such as proximate to the end of aisles 15.
  • Beacons 10 may be considered to be at the beginning of an aisle 15 or the end of an aisle 15 depending primarily on the direction that a vehicle 20 travels through an aisle 15.
  • beacon A101 is considered to be a beginning of aisle beacon 10
  • beacon A100 is considered to be an end of aisle beacon 10 because the vehicle 20 traveling through the aisle 15 associated with beacons A101 and A100 entered the aisle 15 proximate beacon A101 and traverses the aisle 15 towards beacon A100.
  • beacon A100 is considered to be the beginning of aisle beacon 10 and beacon A101 is considered the end of aisle beacon 10.
  • Beacons 10 may be located inside an aisle, such as beacon A101 or outside of an aisle, such as beacon A107.
  • Beacons 10 are designed and constructed to emit signals, such as ultra-wide band, radio-frequency identification, or other suitable signals, and such signals may propagate from beacons 10 in a spherical pattern.
  • anchor is an alternate term for a beacon as both terms generally refer to technologies that operate in similar manners.
  • the signals are received by a receiver 25 ( Figure 2 ) on a vehicle 20, where the receiver 25 communicates with a processor 30 that is operatively connected to one or more vehicle systems 32, such as, but not limited to, a drive system, a carriage height system, a brake system, a mast tilt system, or other suitable systems.
  • the processor 30 may modify a vehicle system, and thus a vehicle characteristic, in response to receiving a signal from a beacon 10, for example, by reducing a maximum vehicle speed, altering the vehicle's current speed, or taking other suitable actions.
  • the receiver 25, processor 30, or both may also determine a distance between the vehicle 20 and a beacon 10, or make other suitable determinations.
  • Beacons 10 may emit signals a predetermined distance, for example, based on the power of the beacons 10 or a setting that limits the signal strength.
  • beacons 10 are used to alert a vehicle 20 when it approaches the end of an aisle 15
  • vehicles may be limited to the rules of the road that may be followed.
  • a rule of the road may be to slow a vehicle's maximum speed to a predetermined amount, such as 1 kilometer per hour, one meter before the end of an aisle 15 to increase the likelihood that a vehicle operator does not exit the aisle 15 without stopping at the end of the aisle 15.
  • beacons 10 communicate with processor 30, such a rule may be difficult to implement. For example, if the signals only propagate one meter from each beacon 10, a vehicle traveling at maximum speed in an aisle 15 may not be able to stop before exiting an aisle 15 because the slowdown / stopping distance may be insufficient.
  • a processor 30 on a vehicle 20 may cause a vehicle 20 to slow down too early, that is, more than one meter from the end 55 of an aisle 15.
  • a processor 30 of a vehicle 20 may cause the vehicle 20 to slow down at the beginning of an aisle, even though the rules of the road do not require a slowdown at the beginning of an aisle, because the processor 30 may not be able to differentiate between entering an aisle 15 and exiting an aisle 15.
  • a processor 30 may cause a vehicle 20 to slow down even when the vehicle 20 is not in an aisle 15.
  • sensors 25 and/or processors 30 are configured to determine the distance from beacons 10, for a vehicle 20 such as vehicle 20 approaching beacon A103, it may be difficult for the sensor 25 and/or processor 30 to determine where the vehicle 20 is in relation to individual beacons. For example, there may be positions at which the vehicle 20 is equidistant from multiple beacons 10, such as beacons A101, A103, and A105, which makes determining which aisle 15 the vehicle 20 is in difficult. Such difficulties complicate following a rule of the road such as slowing a vehicle's maximum speed to a predetermined amount, such as 1 kilometer per hour, one meter before the end of an aisle 15.
  • FIG 3 illustrates another example environment 35 where a real-time location system 37 may be used to establish zones 40 in the environment 35.
  • An example real-time location system comprises the Real Time Location Services (RTLS) and the Indoor Tracking RFID Systems offered by Litum Technologies, of Pasaport-Konak Izmir, Turkey.
  • Litum's RTLS location trackers operate on an ultra-wide band (UWB) RFID frequency to provide location accuracy.
  • the signals from each one of Litum's RTLS RFID tags, which may be attached to staff, assets, and/or vehicles, are processed by Litum's mesh network that consists of anchors (readers) and gateways.
  • the information is processed by Litum's RTLS software, where zone control and alert management functions are managed.
  • the real-time location system 37 does not operate instantaneously; rather, the location information generated by the real-time location system is subject to delays and latencies, including those attributable to transmission and processing, but is nonetheless considered "real-time" as used herein.
  • the real-time location system 37 is preferably a wide-area location system, operable throughout all, substantially all, or most of the environment 35 in which vehicles 20 operate and/or in which the rules of the road are applicable.
  • the real-time location system 37 typically covers an area that includes multiple zones 40, and the range of the real-time location system is greater than that of the beacons within the environment 35.
  • Such real-time location system 37 may also communicate with processors 30 of vehicles 20 to inform the processors 30 whether vehicles 20 are inside or outside of zones 40, and if in a zone 40, where within the zone 40 a vehicle 20 is located.
  • processors 30 of vehicles 20 may also communicate with processors 30 of vehicles 20 to inform the processors 30 whether vehicles 20 are inside or outside of zones 40, and if in a zone 40, where within the zone 40 a vehicle 20 is located.
  • an optional second receiver 25A may be included on vehicle 20 and communicating with processor 30, or receiver 25 may be configured to receive signals from beacons 10 and from a real-time location system 37.
  • Such real-time location system 37 may use ultra-wideband, radio frequency, infrared, ultrasound, or other suitable technology with tags associated with vehicles 20 and/or fixed reference points to determine the locations of vehicles 20 in the environment 35.
  • FIG. 4 illustrates an example environment 45 that includes both a real-time location system 37 to establish zones 40, and beacons 10. Because processors 30 of vehicles 20 may be informed within which zone 40 a vehicle 20 may be located, each processor 30 may be instructed to communicate with a specific beacon 10 to take advantage of the faster response time of the beacons 10 and the ability of the receivers 25 and/or processors 30 to determine a distance of vehicles 20 from individual beacons 10. The combination of a real-time location system 37 and its zones 40 with beacons 10 may thus enable complex rules of the road to be implemented by processors 30.
  • a real-time location system 37 in communication with the processor 30 of vehicle 20 in Zone 103, for example, via receiver 25, may inform the processor 30 that vehicle 20 is in Zone 103.
  • the processor 30 may communicate, or attempt to communicate, with one or both of beacons A103 and A102, but ignores signals from other beacons 10.
  • the real-time location system 37 may be programmed to know where each beacon 10 is within environment 45 and may inform processors 30 which beacons 10 a processor 30 should be communicating with based on the location of a vehicle 20 associated with a processor 30.
  • beacons 10 may emit unique identifiers and processors 30 may know which beacons 10 are associated with which zones 40 such that a processor 30 determines which beacons 10 to communicate with in response to determining in which zone the vehicle 20 associated with the processor 30 is located.
  • Each beacon 10 in an environment 45 may store its own, known location within the environment 45, or the location of each beacon 10 may be stored in the real-time location system 37 or in vehicle processors 30.
  • Figure 4 illustrates signals propagating from beacons in a spherical pattern represented by signal circles 50.
  • signal circles 50 do not extend over the entirety of each aisle 15, however signal circles 50 may be configured with a greater radius such that they extend over the entirety of each aisle 15, or signal circles 50 may be configured with a lesser radius depending on user configurations and needs.
  • each signal circle 50 in Figure 4 is illustrated as being the same size, however signal circles 50 may have different sizes for different beacons 10, for example, depending on the location of a beacon 10 and the area for which it should provide signal coverage.
  • each beacon 10 with respect to the end of each aisle 15, indicated by dashed lines 55, is known and may be programmed into each beacon 10. Specifically, the horizontal distance 60 that a beacon 10 is located from the end of aisle 55 may be programmed and stored in beacon 10. Alternately, the horizontal distance 60, or other suitable parameters, that a beacon 10 is located from the end of aisle 55 may be programmed and stored in processors 30, a real-time location system 37, or other suitable circuitry.
  • Rules of the road are whatever rules are established for vehicles in an environment by persons using vehicles in the environment.
  • an aisle such as aisle 15 associated with Zone 103 in Figure 4
  • the rules of the road may also stipulate that a vehicle 20 entering the beginning of the aisle 15 has no need for speed limiting, that a maximum speed of 1 kilometer per hour applies when the vehicle 20 is within 1 meter of the end of aisle 55, and that no speed limit is imposed after passing the end of aisle 55.
  • the rules of the road may be designated to meet the operational needs of a particular environment for one or more different types of vehicles operating in that environment.
  • one environment may be associated with different rules of the road that govern the characteristics of different vehicle types operating in that environment.
  • one rule of the road may be specific to a tugger while another rule of the road may be specific to an order picker.
  • different rules of the road may apply for the same environment depending on different times of day, days of the week, seasons, etc. Rules of the road are flexible and may be determined by vehicle operators, owners, or other suitable persons.
  • a vehicle 20 enters Zone 103 information from a real-time location system 37 is used by the processor 30 to determine that the vehicle 20 is in Zone 103.
  • timing delays known as a lag time, associated with information transmitted between a real-time location system 37 and a processor 30 associated with a moving vehicle 20, results in the vehicle 20 already being in the Zone 103 before the processor is able to determine that the vehicle 20 is in the Zone 103.
  • no speed limit is associated with entering the beginning of an aisle 15 so there is no need to inform the processor 30 that it is at the beginning of the aisle 15.
  • the processor 30 may communicate only with beacon A103 and ignore signals from other beacons 10. In other examples, the processor 30 may communicate with beacons A103 and A102 and ignore signals from other beacons.
  • Zone 103 While in Zone 103, the receiver 25 on vehicle 20 determines a straight-line distance 65 ( Figure 5 ) between the vehicle 20 and beacon A103. Because the position of beacon A103 is known, including the fact that beacon A103 is located within the aisle 15, receiver 25 also determines a horizontal distance 70 between the vehicle 20 and the beacon A103. Alternately, information from receiver 25 may be provided to processor 30 which may make the distance determinations.
  • beacon A103 is located 12 meters from the end of aisle 55, which is a sufficient distance for vehicle 20 to slow from its maximum speed to 1 kilometer per hour, one meter before reaching end of aisle 55. Therefore, receiver 25 may be programmed to report a predetermined distance, such as 25.5 meters, to processor 30 while the vehicle 20 is approaching beacon A103. Upon reaching beacon A103, for example, when vehicle 20 is underneath beacon A103, receiver 25 may be programmed to report the distance 72 that vehicle 20 is from the end of aisle 55.
  • a predetermined distance such as 25.5 meters
  • processor 30 may be programmed to decelerate vehicle 20, for example by limiting the maximum speed, reducing motor or engine torque, applying the brakes, or other suitable action performed via vehicle system actuators communicating with and/or controlled by processor 30 as needed to facilitate bringing vehicle 20 to a maximum speed of 1 kilometer per hour, one meter before reaching the end of aisle 55.
  • the combination of receiver 25 and processor 30 may permit the vehicle 20 to travel at its maximum speed, if commanded to do so.
  • receiver 25 may again report the predetermined distance of 25.5 meters that processor 30 uses as an indication to impose no speed limit on vehicle 20.
  • the receiver 25 and/or processor 30 may determine if the vehicle 20 enters an aisle 15 at the end of the aisle instead of at the beginning, for example, entering aisle 15 proximate beacon A103.
  • the processor 30 may be programmed to decelerate or stop vehicle 20, for example by limiting the maximum speed, reducing motor or engine torque, applying the brakes, or other suitable action performed via vehicle system actuators communicating with and/or controlled by processor 30 as needed to inhibit vehicle 20 from proceeding the wrong way down an aisle 15.
  • a vehicle 20, such as the vehicle 20 proximate beacon A107 may determine via information received from a real-time location system 37 that the vehicle 20 is not in any zone, and may therefore ignore signals from beacons 10.
  • beacon A107 is located five meters outside of the end of aisle 55. While in Zone 107, the receiver 25 on vehicle 20 determines a straight-line distance 65 between the vehicle 20 and beacon A107. Because the position of beacon A107 is known, including the fact that beacon A107 is located outside of the aisle 15, receiver 25 also determines a horizontal distance 70 between the vehicle 20 and the beacon A107. Because the horizontal distance beacon A107 from the end of aisle 55 is known, receiver 25 may readily determine the distance 72 vehicle 20 is from the end of aisle 55. Alternately, information from receiver 25 may be provided to processor 30 which may make the distance determinations.
  • receiver 25 may be programmed to report the actual distance 72 vehicle 20 is from end of aisle 55 to processor 30 while the vehicle 20 is in Zone 107.
  • processor 30 may be programmed to decelerate vehicle 20, for example by limiting the maximum speed, reducing motor or engine torque, applying the brakes, or other suitable action performed via vehicle system actuators communicating with and/or controlled by processor 30 as needed to facilitate brining vehicle 20 to a maximum speed of 1 kilometer per hour, one meter before reaching the end of aisle 55.
  • the combination of receiver 25 and processor 30 may permit the vehicle 20 to travel at its maximum speed, if commanded to do so.
  • receiver 25 may report a predetermined distance of 25.5 meters that processor 30 uses as an indication to impose no speed limit on vehicle 20.
  • Other suitable mechanisms may be used to permit a vehicle 20 to travel at its maximum speed once the vehicle 20 has moved beyond an end of aisle 55.
  • the receiver 25, processor 30, or both may report the distance 72 a vehicle 20 is from an end of aisle 55 for a situation when a beacon 10 is located inside an aisle 15.
  • an environment 75 may include aisles 15A that are configured for two-way traffic.
  • vehicles 20 may determine distances to beacons 10 or end of aisle 55A as described above. Or, vehicles 20 may make other suitable determinations for the environment 75.
  • One manner vehicles 20 may determine which of beacons 10 to communicate with upon entering one of the zones 85 may be to start a timer, and when the timer elapses determine which of the beacons 10 is closest and communicate with the closest beacon. Or, a vehicle 20 may initiate communication with both beacons associated with an aisle 15A upon entering one of the zones 85 and track which one of the beacons 10 the vehicle 20 is moving toward and which one of the beacons 10 the vehicle 20 is moving away from, then, optionally, drop communication with the beacon 10 that the vehicle 20 is moving away from. Other suitable manners may be used to determine which beacon 10 a vehicle 20 should communicate with upon entering zone 85.
  • a system for enhancing rules of the road compliance comprises a vehicle 20 equipped with a processor 30.
  • the processor 30 is operably coupled to at least one vehicle system such as a drive system, braking system, or other suitable system.
  • the vehicle 20 is also equipped with a receiver 25 communicating with the processor 30.
  • the receiver 25 is configured to receive signals from a real-time location system 37 and from one or more beacons 10 that are located at known positions in an environment 45 in which the vehicle 20 operates.
  • the receiver 25 includes separate receiving components, one tuned for signals from beacons 10 and one tuned for signals from real-time location system 37.
  • Other suitable arrangements for receiving signals from both beacons 10 and real-time location system 37 may be used, including, but not limited to, using two separate receivers, and are intended to be covered by the language "a receiver.”
  • the system is programmed to receive a signal from the real-time location system 37 in response to entering a zone 40 in the environment 45 monitored by the real-time location system 37.
  • the receiver 25 may be configured to receive signals from the real-time location system 37 and transmit such signals to the processor 30, or may transmit information to the processor 30 based on receipt of such signals from the real-time location system 37.
  • the system is further programmed to communicate with one or more beacons 10 associated with the zone 40 that the vehicle 20 entered in response to receiving the signal from the real-time location system 37.
  • the receiver 25 may further be configured to receive signals from beacons 10.
  • the system is also programmed to determine a position of the vehicle 20 in the zone 40 based on the known positions of the one or more beacons 10 associated with the zone 40.
  • the receiver 25 may determine the position of the vehicle 20 with respect to a beacon 10 using time of flight or other suitable distance determination technique and extrapolate the position of the vehicle 20 based on the known position of the beacon 10 and the fact that the vehicle 20 is in the zone 40.
  • information may be passed from the receiver 25 to the processor 30 and the processor 30 may make such determinations.
  • the system is also programmed to perform at least one of (i) modifying an operating characteristic of the vehicle system and (ii) operating the vehicle system based on (a) the determined position of the vehicle with respect to one or more beacons associated with the zone and (b) a rule of the road.
  • the processor 30 may be operatively coupled to, or be part of, a vehicle controller that sets a maximum allowable speed for the vehicle 20.
  • the processor 30 may set a lower maximum vehicle speed such that the vehicle 20 slows down as it approaches the portion of the aisle with the 1 kilometer per hour speed limit.
  • the processor 30 may be operatively coupled to an actuator that controls the amount of throttle for a motor or engine.
  • the processor 30 may reduce the amount of throttle commanded for the vehicle 20 such that the vehicle 20 slows down as it approaches the portion of the aisle with the 1 kilometer per hour speed limit.
  • Other suitable modifications of vehicle characteristics or operations of vehicle systems may be used, for example, to satisfy vehicle operational conditions and/or limits and applicable rules of the road.
  • the system may include the real-time location system 37 and/or the beacons 10.
  • a receiver 25, processor 30, or both receive information from a real-time location system 37 indicating that the vehicle 20 has entered a specific zone 40 in an environment 45 in response to the vehicle entering the specific zone 40.
  • the processor 30 / receiver 25 combination communicates with one or more beacons 10 associated with the specific zone 40 in response to receiving information indicating that the vehicle 20 has entered the zone 40 at operation 805.
  • the processor 30 / receiver 25 combination determines the vehicle's 20 position in the zone 40 in response to communicating with one or more beacons 10 associated with the zone 40.
  • the processor 30 / receiver 25 combination determines a rule of the road based on the vehicle's 20 position in the zone 40.
  • the processor 30 may be associated with a memory that contains rules of the road for various zones 40, or one or more rules of the road applicable to the specific zone 40 may be communicated to the processor 30 / receiver 25 combination via the real-time location system 37.
  • Other suitable arrangements may be used to determine one or more rules of the road.
  • the processor 30 /receiver 25 combination performs at least one of (i) modifying an operating characteristic of a vehicle system and (ii) operating the vehicle system based on (a) the determined position of the vehicle 20 in the zone 40 and (b) the rule of the road.
  • a system for facilitating vehicle operational compliance including the real-time location system 37 and/or the beacons 10 may be updated via the processor 30 associated with a memory containing rules of the road for various zones 40, such as by adding, changing, or removing instructions for one or more rules of the road applicable to the specific zone 40.
  • the updated instructions may be communicated to the processor 30 / receiver 25 combination via the real-time location system 37.
  • the changes in the rules of the road may therefore be very efficiently communicated, in a global manner, to all vehicles 20 throughout an environment via the system.
  • the systems may be set up to encompass, for example, both inside and outside environments.
  • beacons 10 that are installed in a location that is not on the ground or road surface, such as those installed on or from walls and/or the ceiling, additionally removes potential hazards resulting from use of beacons in or near vehicle traffic lanes or parking areas while still allowing for vehicle communication.
  • aspects of the systems and methods for facilitating vehicle operational compliance as depicted for the forklift trucks described herein can also be utilized for other vehicles including other materials-handling vehicles, for example, towing tugs, end-rider trucks, and order pickers, which are operating in one or more environments, including a warehouse, a stockyard, a shipyard, a cold room, and a storage room.
  • the systems and methods may include one or more types of materials-handling vehicles operating in multiple environments.
  • the materials-handling vehicles are operating in a warehouse.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Atmospheric Sciences (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Traffic Control Systems (AREA)

Claims (14)

  1. Materialhandhabungsfahrzeug (20), umfassend:
    einen Prozessor (30), der dem Fahrzeug (20) zugeordnet ist und mit mindestens einem Fahrzeugsystem (32) wirkverbunden ist;
    dadurch gekennzeichnet, dass das Fahrzeug ferner umfasst:
    einen Empfänger (25), der mit dem Prozessor (30) kommunikativ gekoppelt ist und konfiguriert ist, um Signale von einem Echtzeitortungssystem (37) und von einer oder mehreren Baken (10) zu empfangen, die sich an bekannten Positionen in einer Umgebung (35) befinden, in der das Fahrzeug (20) betrieben wird;
    wobei das Fahrzeug (20) programmiert ist, um ein Signal von einem Echtzeitortungssystem (37) als Reaktion auf das Eintreten in eine Zone (40) in der Umgebung (35) zu empfangen, die durch das Echtzeitortungssystem (37) überwacht wird;
    wobei das Fahrzeug (20) ferner programmiert ist, um mit einer oder mehreren Baken (10) zu kommunizieren, die der Zone (40) zugeordnet sind, als Reaktion auf das Empfangen des Signals vom Echtzeitortungssystem (37);
    wobei das Fahrzeug (20) ferner programmiert ist, um eine Position des Fahrzeugs (20) in der Zone (40) basierend auf den bekannten Positionen der einen oder mehreren Baken (10) zu bestimmen, die der Zone (40) zugeordnet sind; und
    wobei das Fahrzeug (20) ferner programmiert ist, um mindestens eines von (i) Modifizieren einer Betriebscharakteristik des Fahrzeugsystems (32) und (ii) Betreiben des Fahrzeugsystems (32) basierend auf (a) der bestimmten Position des Fahrzeugs (20) in Bezug auf eine oder mehrere Baken (10), die der Zone (40) zugeordnet sind, und (b) einer Straßenregel durchzuführen.
  2. Materialhandhabungsfahrzeug (20) nach Anspruch 1, wobei die Straßenregel der Zone (40) zugeordnet ist.
  3. Materialhandhabungsfahrzeug (20) nach einem der vorhergehenden Ansprüche, wobei die Zone (40) einen Gang (15) bezeichnet.
  4. Materialhandhabungsfahrzeug (20) nach Anspruch 3, wobei die Straßenregel eine Fahrzeuggeschwindigkeitsbegrenzung umfasst, die einem Abschnitt des Gangs (15) zugeordnet ist.
  5. Materialhandhabungsfahrzeug (20) nach Anspruch 4, wobei die Fahrzeuggeschwindigkeitsbegrenzung einem Austrittsendabschnitt des Gangs (15) zugeordnet ist.
  6. Materialhandhabungsfahrzeug (20) nach Anspruch 4, wobei sich eine der einen oder mehreren Baken (10), die der Zone (40) zugeordnet sind, im Gang (15) befindet.
  7. Materialhandhabungsfahrzeug (20) nach Anspruch 4, wobei sich eine der einen oder mehreren Baken (10), die der Zone (40) zugeordnet sind, außerhalb des Gangs (15) befindet.
  8. Materialhandhabungsfahrzeug (20) nach einem der vorhergehenden Ansprüche, wobei die Straßenregel der Zone (40) zugeordnet ist und die Straßenregel für einen Typ von Materialhandhabungsfahrzeug (20) spezifisch ist.
  9. Materialhandhabungsfahrzeug (20) nach einem der vorhergehenden Ansprüche, wobei das Durchführen von mindestens einem von (i) Modifizieren einer Betriebscharakteristik des Fahrzeugsystems (32) und (ii) Betreiben des Fahrzeugsystems (32) Modifizieren der Betriebscharakteristik des Fahrzeugsystems (32) und Betreiben des Fahrzeugsystems (32) umfasst.
  10. Verfahren zum Betreiben eines Materialhandhabungsfahrzeugs (20), um eine Straßenregel einzuhalten, wobei das Verfahren umfasst:
    über eine Kombination aus Prozessor (30) / Empfänger (25), Empfangen von Informationen, die angeben, dass das Materialhandhabungsfahrzeug (20) in eine Zone (40) in einer Umgebung (35) eingetreten ist, als Reaktion darauf, dass das Fahrzeug (20) in die Zone (40) eintritt;
    dadurch gekennzeichnet, dass das Verfahren ferner umfasst:
    über die Kombination aus Prozessor (30) / Empfänger (25), Kommunizieren mit einer oder mehreren Baken (10), die der Zone (40) zugeordnet sind, als Reaktion auf das Empfangen von Informationen, die angeben, dass das Fahrzeug (20) in die Zone (40) eingetreten ist;
    über die Kombination aus Prozessor (30) / Empfänger (25), Bestimmen der Position des Fahrzeugs (20) in der Zone (40) als Reaktion auf das Kommunizieren mit einer oder mehreren Baken (10), die der Zone (40) zugeordnet sind;
    über die Kombination aus Prozessor (30) / Empfänger (25), Bestimmen einer Straßenregel basierend auf der Position des Fahrzeugs (20) in der Zone (40); und
    über die Kombination aus Prozessor (30) / Empfänger (25), Durchführen von mindestens einem von (i) Modifizieren einer Betriebscharakteristik des Fahrzeugsystems (32) und (ii) Betreiben des Fahrzeugsystems (32) basierend auf (a) der bestimmten Position des Fahrzeugs (20) in der Zone (40) und (b) der Straßenregel.
  11. Verfahren nach Anspruch 10, wobei:
    die Zone (40) einen Gang (15) umfasst;
    die Straßenregel eine Geschwindigkeitsbegrenzung für einen Abschnitt des Gangs (15) umfasst; und
    das Modifizieren einer Betriebscharakteristik des Fahrzeugsystems (32) Reduzieren einer Höchstgeschwindigkeit für das Fahrzeug (20) umfasst.
  12. Verfahren nach einem der Ansprüche 10-11, wobei:
    die Zone (40) einen Gang (15) umfasst;
    die Straßenregel eine Geschwindigkeitsbegrenzung für einen Abschnitt des Gangs (15) umfasst; und
    das Betreiben des Fahrzeugsystems (32) Reduzieren einer Geschwindigkeit des Fahrzeugs (20) umfasst.
  13. Verfahren nach einem der Ansprüche 10-12, wobei das Durchführen von mindestens einem von (i) Modifizieren einer Betriebscharakteristik des Fahrzeugsystems (32) und (ii) Betreiben des Fahrzeugsystems (32) Modifizieren der Betriebscharakteristik des Fahrzeugsystems (32) und Betreiben des Fahrzeugsystems (32) umfasst.
  14. Verfahren nach Anspruch 13, wobei:
    die Zone (40) einen Gang (15) umfasst;
    die Straßenregel eine Geschwindigkeitsbegrenzung für einen Abschnitt des Gangs (15) umfasst;
    das Modifizieren einer Betriebscharakteristik des Fahrzeugsystems (32) Reduzieren einer Höchstgeschwindigkeit für das Fahrzeug (20) umfasst; und
    das Betreiben des Fahrzeugsystems (32) Reduzieren einer Geschwindigkeit des Fahrzeugs (20) umfasst.
EP21194292.5A 2020-09-02 2021-09-01 Systeme und verfahren zur ermöglichung der operativen konformität eines materialhandhabungsfahrzeugs Active EP3964914B1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US202063073680P 2020-09-02 2020-09-02

Publications (2)

Publication Number Publication Date
EP3964914A1 EP3964914A1 (de) 2022-03-09
EP3964914B1 true EP3964914B1 (de) 2023-11-01

Family

ID=77897441

Family Applications (1)

Application Number Title Priority Date Filing Date
EP21194292.5A Active EP3964914B1 (de) 2020-09-02 2021-09-01 Systeme und verfahren zur ermöglichung der operativen konformität eines materialhandhabungsfahrzeugs

Country Status (2)

Country Link
US (1) US20220068131A1 (de)
EP (1) EP3964914B1 (de)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7415975B2 (ja) * 2021-02-12 2024-01-17 トヨタ自動車株式会社 車両の走行支援システム、及び、車両の走行支援方法

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070187496A1 (en) * 2006-02-10 2007-08-16 Andersen Scott P Inventory tracking system and method
BR112018074419A2 (pt) * 2016-06-24 2019-03-06 Crown Equipment Corporation processo implementado por computador, e, sistema para rastrear indiretamente selos eletrônicos.
US11117743B2 (en) * 2017-09-28 2021-09-14 Symbotic Llc Storage and retrieval system

Also Published As

Publication number Publication date
EP3964914A1 (de) 2022-03-09
US20220068131A1 (en) 2022-03-03

Similar Documents

Publication Publication Date Title
US10220850B2 (en) Vehicle propulsion systems and methods
EP3791239B1 (de) Verfahren zur herstellung eines weges für ein fahrzeug
JP3458958B2 (ja) 車両の干渉防止装置
EP2921362B1 (de) Fahrzeug, Fahrzeugsystem dafür und Verfahren zur Erhöhung der Sicherheit und/oder des Komforts während des autonomen Fahrbetriebs
US8676466B2 (en) Fail-safe speed profiles for cooperative autonomous vehicles
EP3333662B1 (de) Fernbedientes fahrzeug und fahrzeugsteuerungsvorrichtung und steuerungsverfahren dafür
EP3063597B1 (de) System zur berechnung einer gewünschten voraussichtlichen ankunftszeit
EP4018427A1 (de) Verfahren zur handhabung von staus an kreuzungen im betrieb eines autonomen fahrzeugs
EP2805211B1 (de) Automatisierte bodenabfertigung eines flugzeugs
CN101813492A (zh) 车辆导航系统及方法
EP3855273B1 (de) System zur steuerung von mehreren autonomen fahrzeugen auf einem minengelände
Palmquist Intelligent cruise control and roadside information
EP3964914B1 (de) Systeme und verfahren zur ermöglichung der operativen konformität eines materialhandhabungsfahrzeugs
US20190041874A1 (en) Method for anticipating the displacement of a wake vortex in a formation flight of two aircraft
US6081223A (en) Vehicle on which millimeter wave radar is mounted
JP2000267729A (ja) 車両の障害物検知装置
US12033514B2 (en) Waypoint information transmission method, apparatus and system for platooning
US10357721B2 (en) Distributed and autonomous control system for guided-path vehicles
CN215526456U (zh) 一种潜伏式自动驾驶重载搬运车辆
CN114613140A (zh) 无人车辆的交叉区域的智能调度方法及装置
KR102728499B1 (ko) 야드트랙터의 화물 하역을 위한 v2x 기반 항만 협력자율주행 화물운송시스템
KR102724322B1 (ko) 로드트랙터로부터 화물 선적을 위한 v2x 기반 항만 협력자율주행 화물운송시스템
KR102724320B1 (ko) 로드트랙터의 화물 하역을 위한 v2x 기반 항만 협력자율주행 화물운송시스템
EP4047322A1 (de) Autonomes fahrzeug und verfahren zum betreiben eines autonomen fahrzeugs
KR102728501B1 (ko) 야드트랙터로부터 화물 선적을 위한 v2x 기반 항만 협력자율주행 화물운송시스템

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION HAS BEEN PUBLISHED

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20220824

RBV Designated contracting states (corrected)

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

P01 Opt-out of the competence of the unified patent court (upc) registered

Effective date: 20230530

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

RIC1 Information provided on ipc code assigned before grant

Ipc: G05D 1/02 20200101AFI20230618BHEP

INTG Intention to grant announced

Effective date: 20230714

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 602021006373

Country of ref document: DE

REG Reference to a national code

Ref country code: DE

Ref legal event code: R079

Ref document number: 602021006373

Country of ref document: DE

Free format text: PREVIOUS MAIN CLASS: G05D0001020000

Ipc: G05D0001430000

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG9D

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20231101

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240202

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240301

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231101

REG Reference to a national code

Ref country code: AT

Ref legal event code: MK05

Ref document number: 1627930

Country of ref document: AT

Kind code of ref document: T

Effective date: 20231101

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231101

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231101

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231101

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231101

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231101

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240301

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240202

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231101

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240201

Ref country code: AT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231101

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240301

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231101

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231101

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231101

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240201

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231101

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231101

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231101

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231101

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231101

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231101

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231101

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231101

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231101

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231101

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 602021006373

Country of ref document: DE

REG Reference to a national code

Ref country code: DE

Ref legal event code: R081

Ref document number: 602021006373

Country of ref document: DE

Owner name: HYSTER-YALE MATERIALS HANDLING, INC. (N.D.GES., US

Free format text: FORMER OWNER: HYSTER-YALE GROUP, INC., FAIRVIEW, OR, US

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

26N No opposition filed

Effective date: 20240802

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20240812

Year of fee payment: 4

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 20240806

Year of fee payment: 4

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231101

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231101